costmap_filter.hpp

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 * Author: Eitan Marder-Eppstein
 *         David V. Lu!!
 *         Alexey Merzlyakov
 *********************************************************************/
 
#ifndef NAV2_COSTMAP_2D__COSTMAP_FILTERS__COSTMAP_FILTER_HPP_
#define NAV2_COSTMAP_2D__COSTMAP_FILTERS__COSTMAP_FILTER_HPP_
 
#include <string>
#include <mutex>
#include <memory>
 
#include "geometry_msgs/msg/pose2_d.hpp"
#include "std_srvs/srv/set_bool.hpp"
#include "nav2_costmap_2d/layer.hpp"
#include "nav_msgs/msg/occupancy_grid.hpp"
#include "nav2_util/service_server.hpp"
 
namespace nav2_costmap_2d
{
 
class CostmapFilter : public Layer
{
public:
  CostmapFilter();
  ~CostmapFilter();
 
  typedef std::recursive_mutex mutex_t;
  mutex_t * getMutex()
  {
    return access_;
  }
 
  void onInitialize() final;
 
  void updateBounds(
    double robot_x, double robot_y, double robot_yaw,
    double * min_x, double * min_y, double * max_x, double * max_y) final;
 
  void updateCosts(
    nav2_costmap_2d::Costmap2D & master_grid,
    int min_i, int min_j, int max_i, int max_j) final;
 
  void activate() final;
  void deactivate() final;
  void reset() final;
 
  bool isClearable() {return false;}
 
  virtual void initializeFilter(
    const std::string & filter_info_topic) = 0;
 
  virtual void process(
    nav2_costmap_2d::Costmap2D & master_grid,
    int min_i, int min_j, int max_i, int max_j,
    const geometry_msgs::msg::Pose2D & pose) = 0;
 
  virtual void resetFilter() = 0;
 
protected:
  void enableCallback(
    const std::shared_ptr<rmw_request_id_t> request_header,
    const std::shared_ptr<std_srvs::srv::SetBool::Request> request,
    std::shared_ptr<std_srvs::srv::SetBool::Response> response);
 
  bool transformPose(
    const std::string global_frame,
    const geometry_msgs::msg::Pose2D & global_pose,
    const std::string mask_frame,
    geometry_msgs::msg::Pose2D & mask_pose) const;
 
  bool worldToMask(
    nav_msgs::msg::OccupancyGrid::ConstSharedPtr filter_mask,
    double wx, double wy, unsigned int & mx, unsigned int & my) const;
 
  inline int8_t getMaskData(
    nav_msgs::msg::OccupancyGrid::ConstSharedPtr filter_mask,
    const unsigned int mx, const unsigned int my) const
  {
    return filter_mask->data[my * filter_mask->info.width + mx];
  }
 
  unsigned char getMaskCost(
    nav_msgs::msg::OccupancyGrid::ConstSharedPtr filter_mask,
    const unsigned int mx, const unsigned int & my) const;
 
  std::string filter_info_topic_;
 
  std::string mask_topic_;
 
  tf2::Duration transform_tolerance_;
 
  nav2_util::ServiceServer<std_srvs::srv::SetBool,
    std::shared_ptr<rclcpp_lifecycle::LifecycleNode>>::SharedPtr enable_service_;
 
private:
  geometry_msgs::msg::Pose2D latest_pose_;
 
  mutex_t * access_;
};
 
}  // namespace nav2_costmap_2d
 
#endif  // NAV2_COSTMAP_2D__COSTMAP_FILTERS__COSTMAP_FILTER_HPP_